Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
698138 | Automatica | 2008 | 7 Pages |
Abstract
This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the Pendubot, which is not directly actuated. We exploit a recently proposed feedback control design strategy, based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for achieving: stable oscillatory motions, a closed-loop-design-based swing-up, and propeller motions. The theoretical results are verified via successful experimental implementation.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
L. Freidovich, A. Robertsson, A. Shiriaev, R. Johansson,